/* Applying Kalman filters to GPS data. */
///<  liuwei 654188547@qq.com
#include <assert.h>
#include <math.h>
#include "algo_gps.h"

static const double PI = 3.14159265;
static const double EARTH_RADIUS_IN_MILES = 3963.1676;

KalmanFilter alloc_filter_velocity2d(double noise) {
  /* The state model has four dimensions:
     x, y, x', y'
     Each time step we can only observe position, not velocity, so the
     observation vector has only two dimensions.
  */
  KalmanFilter f = alloc_filter(4, 2);

  /* Assuming the axes are rectilinear does not work well at the
     poles, but it has the bonus that we don't need to convert between
     lat/long and more rectangular coordinates. The slight inaccuracy
     of our physics model is not too important.
   */
//  double v2p = 0.001;
  set_identity_matrix(f.state_transition);
  set_seconds_per_timestep(f, 1.0);
	     
  /* We observe (x, y) in each time step */
  set_matrix(f.observation_model,
	     1.0, 0.0, 0.0, 0.0,
	     0.0, 1.0, 0.0, 0.0);

  /* Noise in the world. */
  double pos = 0.000001;
  set_matrix(f.process_noise_covariance,
	     pos, 0.0, 0.0, 0.0,
	     0.0, pos, 0.0, 0.0,
	     0.0, 0.0, 1.0, 0.0,
	     0.0, 0.0, 0.0, 1.0);

  /* Noise in our observation */
  set_matrix(f.observation_noise_covariance,
	     pos * noise, 0.0,
	     0.0, pos * noise);

  /* The start position is totally unknown, so give a high variance */
  set_matrix(f.state_estimate, 0.0, 0.0, 0.0, 0.0);
  set_identity_matrix(f.estimate_covariance);
  double trillion = 1000.0 * 1000.0 * 1000.0 * 1000.0;
  scale_matrix(f.estimate_covariance, trillion);

  return f;
}


/* The position units are in thousandths of latitude and longitude.
   The velocity units are in thousandths of position units per second.

   So if there is one second per timestep, a velocity of 1 will change
   the lat or long by 1 after a million timesteps.

   Thus a typical position is hundreds of thousands of units.
   A typical velocity is maybe ten.
*/
void set_seconds_per_timestep(KalmanFilter f,
			      double seconds_per_timestep) {
  /* unit_scaler accounts for the relation between position and
     velocity units */
  double unit_scaler = 0.001;
  f.state_transition.data[0][2] = unit_scaler * seconds_per_timestep;
  f.state_transition.data[1][3] = unit_scaler * seconds_per_timestep;
}

void update_velocity2d(KalmanFilter f, double lat, double lon,
		       double seconds_since_last_timestep) {
  set_seconds_per_timestep(f, seconds_since_last_timestep);
  set_matrix(f.observation, lat * 1000.0, lon * 1000.0);
  update(f);
}

int read_lat_long(FILE* file, double* lat, double* lon) {
  while (1) {
    /* If we find a lat long pair, we're done */
    if (2 == fscanf(file, "%lf,%lf", lat, lon)) {
      return 1;
    }

    /* Advance to the next line */
    int ch;
    while ((ch = getc(file)) != '\n') {
      if (EOF == ch) {
	return 0;
      }
    }
  }
}


void get_lat_long(KalmanFilter f, double* lat, double* lon) {
  *lat = f.state_estimate.data[0][0] / 1000.0;
  *lon = f.state_estimate.data[1][0] / 1000.0;
}


void get_velocity(KalmanFilter f, double* delta_lat, double* delta_lon) {
  *delta_lat = f.state_estimate.data[2][0] / (1000.0 * 1000.0);
  *delta_lon = f.state_estimate.data[3][0] / (1000.0 * 1000.0);
}

/* See
   http://www.movable-type.co.uk/scripts/latlong.html
   for formulas */
double get_bearing(KalmanFilter f) {
  double lat, lon, delta_lat, delta_lon, x, y;
  get_lat_long(f, &lat, &lon);
  get_velocity(f, &delta_lat, &delta_lon);

  /* Convert to radians */
  double to_radians = PI / 180.0;
  lat *= to_radians;
  lon *= to_radians;
  delta_lat *= to_radians;
  delta_lon *= to_radians;
  
  /* Do math */
  double lat1 = lat - delta_lat;
  y = sin(delta_lon) * cos(lat);
  x = cos(lat1) * sin(lat) - sin(lat1) * cos(lat) * cos(delta_lon);
  double bearing = atan2(y, x);

  /* Convert to degrees */
  bearing = bearing / to_radians;
  while (bearing >= 360.0) {
    bearing -= 360.0;
  }
  while (bearing < 0.0) {
    bearing += 360.0;
  }
    
  return bearing;
}

double calculate_mph(double lat, double lon,
		     double delta_lat, double delta_lon) {
  /* First, let's calculate a unit-independent measurement - the radii
     of the earth traveled in each second. (Presumably this will be
     a very small number.) */
  
  /* Convert to radians */
  double to_radians = PI / 180.0;
  lat *= to_radians;
  lon *= to_radians;
  delta_lat *= to_radians;
  delta_lon *= to_radians;

  /* Haversine formula */
  double lat1 = lat - delta_lat;
  double sin_half_dlat = sin(delta_lat / 2.0);
  double sin_half_dlon = sin(delta_lon / 2.0);
  double a = sin_half_dlat * sin_half_dlat + cos(lat1) * cos(lat)
    * sin_half_dlon * sin_half_dlon;
  double radians_per_second = 2 * atan2(1000.0 * sqrt(a),
					1000.0 * sqrt(1.0 - a));
  
  /* Convert units */
  double miles_per_second = radians_per_second * EARTH_RADIUS_IN_MILES;
  double miles_per_hour = miles_per_second * 60.0 * 60.0;
  return miles_per_hour;
}

double get_mph(KalmanFilter f) {
  double lat, lon, delta_lat, delta_lon;
  get_lat_long(f, &lat, &lon);
  get_velocity(f, &delta_lat, &delta_lon);
  return calculate_mph(lat, lon, delta_lat, delta_lon);
}

